Upload materialized data batch openarm_description

.gitattributes

@@ -635,3 +635,18 @@ data/office_building_1/environment/Model_Data/sharedassets0.assets.resS filter=l
 data/office_building_1/environment/UnityPlayer.so filter=lfs diff=lfs merge=lfs -text
 data/office_building_1/map.ply filter=lfs diff=lfs merge=lfs -text
 data/office_scene_cooking_example/dimos_office_mesh.glb filter=lfs diff=lfs merge=lfs -text
+data/openarm_description/meshes/arm/v10/collision/link3_symp.stl filter=lfs diff=lfs merge=lfs -text
+data/openarm_description/meshes/arm/v10/collision/link4_symp.stl filter=lfs diff=lfs merge=lfs -text
+data/openarm_description/meshes/arm/v10/collision/link5_symp.stl filter=lfs diff=lfs merge=lfs -text
+data/openarm_description/meshes/arm/v10/visual/link0.stl filter=lfs diff=lfs merge=lfs -text
+data/openarm_description/meshes/arm/v10/visual/link1.stl filter=lfs diff=lfs merge=lfs -text
+data/openarm_description/meshes/arm/v10/visual/link2.stl filter=lfs diff=lfs merge=lfs -text
+data/openarm_description/meshes/arm/v10/visual/link3.stl filter=lfs diff=lfs merge=lfs -text
+data/openarm_description/meshes/arm/v10/visual/link4.stl filter=lfs diff=lfs merge=lfs -text
+data/openarm_description/meshes/arm/v10/visual/link5.stl filter=lfs diff=lfs merge=lfs -text
+data/openarm_description/meshes/arm/v10/visual/link6.stl filter=lfs diff=lfs merge=lfs -text
+data/openarm_description/meshes/arm/v10/visual/link7.stl filter=lfs diff=lfs merge=lfs -text
+data/openarm_description/meshes/body/v10/collision/body_link0_symp.stl filter=lfs diff=lfs merge=lfs -text
+data/openarm_description/meshes/body/v10/visual/body_link0.dae filter=lfs diff=lfs merge=lfs -text
+data/openarm_description/meshes/body/v10/visual/body_link0.stl filter=lfs diff=lfs merge=lfs -text
+data/openarm_description/meshes/ee/openarm_hand/visual/finger.stl filter=lfs diff=lfs merge=lfs -text

data/openarm_description/.cmake-format.py

@@ -0,0 +1,19 @@
+# Copyright 2025 Enactic, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+with section("format"):
+    command_case = "lower"
+
+with section("markup"):
+    enable_markup = False

data/openarm_description/.github/ISSUE_TEMPLATE/1-bug-report.yml

@@ -0,0 +1,25 @@
+# Copyright 2025 Enactic, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+name: Bug Report
+description: File a bug report.
+type: Bug
+body:
+  - type: textarea
+    id: description
+    attributes:
+      label: Describe the problem you got
+      description: It's better that you provide information as much as possible.
+    validations:
+      required: true

data/openarm_description/.github/ISSUE_TEMPLATE/2-feature-request.yml

@@ -0,0 +1,25 @@
+# Copyright 2025 Enactic, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+name: Feature Request
+description: Request a feature.
+type: Feature
+body:
+  - type: textarea
+    id: description
+    attributes:
+      label: Describe the feature you want
+      description: It's better that you also provide your use case.
+    validations:
+      required: true

data/openarm_description/.github/ISSUE_TEMPLATE/config.yml

@@ -0,0 +1,22 @@
+# Copyright 2025 Enactic, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+blank_issues_enabled: false
+contact_links:
+  - name: Discord
+    url: https://discord.gg/FsZaZ4z3We
+    about: Please ask and answer questions here.
+  - name: GitHub Discussions
+    url: https://github.com/enactic/openarm_description/discussions
+    about: If you prefer GitHub Discussions to Discord, you can use GitHub Discussions too.

data/openarm_description/.github/dependabot.yml

@@ -0,0 +1,23 @@
+# Copyright 2025 Enactic, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+version: 2
+updates:
+  - package-ecosystem: "github-actions"
+    directory: "/"
+    schedule:
+      interval: "weekly"
+    commit-message:
+      prefix: "ci: "
+    open-pull-requests-limit: 10

data/openarm_description/.github/release-notification.yml

@@ -0,0 +1,25 @@
+# Copyright 2026 Enactic, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+changelog:
+  exclude:
+    authors:
+      - dependabot[bot]
+  categories:
+    - title: "Highlights"
+      labels:
+        - "important"
+    - title: "Other Changes"
+      labels:
+        - "*"

data/openarm_description/.github/release.yml

@@ -0,0 +1,18 @@
+# Copyright 2025 Enactic, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+changelog:
+  exclude:
+    authors:
+      - dependabot[bot]

data/openarm_description/.github/workflows/release.yaml

@@ -0,0 +1,128 @@
+# Copyright 2025 Enactic, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+name: Release
+on:
+  - push
+  - pull_request
+jobs:
+  build:
+    name: Build
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        id:
+          - "rolling"
+          - "kilted"
+          - "jazzy"
+          - "humble"
+    steps:
+      - uses: actions/checkout@v6
+      - name: Build URDF files
+        run: |
+          docker container run \
+            --rm \
+            --volume ${PWD}:/source \
+            osrf/ros:${{ matrix.id }}-desktop-full \
+            bash -c '
+              cd /source
+              colcon build
+              source install/setup.bash
+              for file in $(find urdf -name "*.xacro"); do
+                xacro "${file}" bimanual:=true > "${file%.*}_${{ matrix.id }}_bimanual.urdf"
+                xacro "${file}" bimanual:=false > "${file%.*}_${{ matrix.id }}.urdf"
+              done'
+      - uses: actions/upload-artifact@v7
+        with:
+          name: urdf-${{ matrix.id }}
+          path: urdf/**/*.urdf
+  publish:
+    name: Publish
+    needs: build
+    runs-on: ubuntu-latest
+    environment: release
+    permissions:
+      contents: write
+      discussions: write
+    steps:
+      - name: Set environments
+        run: |
+          if [ "${GITHUB_REF_TYPE}" = "tag" ]; then
+            echo "VERSION=${GITHUB_REF_NAME}" >> ${GITHUB_ENV}
+          else
+            echo "VERSION=x.y.z" >> ${GITHUB_ENV}
+          fi
+          if [ "${GITHUB_EVENT_NAME}" = "pull_request" ]; then
+            echo "REF=${GITHUB_SHA}" >> ${GITHUB_ENV}
+          else
+            echo "REF=${GITHUB_REF_NAME}" >> ${GITHUB_ENV}
+          fi
+      - uses: actions/checkout@v6
+      - uses: actions/download-artifact@v8
+        with:
+          pattern: urdf-*
+          path: artifacts
+          merge-multiple: true
+      - name: Create source archive
+        run: |
+          name="openarm-description-${VERSION}"
+          git archive --format=tar ${REF} \
+            --prefix "${name}/" \
+            --output "${name}.tar"
+
+          mkdir "${name}"
+          mv artifacts "${name}/urdf"
+          find "${name}/urdf" -type f | tar -rf "${name}.tar" -T -
+          gzip "${name}.tar"
+
+          sha256sum "${name}.tar.gz" > "${name}.tar.gz.sha256"
+          sha512sum "${name}.tar.gz" > "${name}.tar.gz.sha512"
+      - uses: actions/upload-artifact@v7
+        with:
+          name: source-archive
+          path: openarm-description-*.tar.gz*
+      - name: Create GitHub Release
+        if: github.ref_type == 'tag'
+        env:
+          GH_TOKEN: ${{ github.token }}
+        run: |
+          gh release create ${GITHUB_REF_NAME} \
+            --discussion-category Announcements \
+            --generate-notes \
+            --repo ${GITHUB_REPOSITORY} \
+            --title "OpenArm Description ${VERSION}" \
+            --verify-tag \
+            openarm-description-${VERSION}.tar.gz*
+      - name: Post to Discord
+        if: github.ref_type == 'tag'
+        env:
+          DISCORD_WEBHOOK_URL: ${{ secrets.DISCORD_WEBHOOK_URL }}
+          GH_TOKEN: ${{ github.token }}
+        run: |
+          gh api "repos/${GITHUB_REPOSITORY}/releases/generate-notes" \
+                    --raw-field tag_name="${GITHUB_REF_NAME}" \
+                    --raw-field configuration_file_path=.github/release-notification.yml \
+                    --jq .body |
+                    sed 's/<!--[^>]*-->//g' |
+                    tee content.md
+
+          echo "## Help and Feedback" | tee -a content.md
+          echo "If you have any URDF related problems or improvements, please file them to https://github.com/enactic/openarm_description/issues and/or https://github.com/enactic/openarm_description/pulls !" | tee -a content.md
+
+          curl --request POST "${DISCORD_WEBHOOK_URL}" \
+             --header "Content-Type: application/json" \
+             --data "$(jq --null-input \
+                         --arg thread_name "OpenArm Description ${VERSION}" \
+                         --arg content "$(cat content.md)" \
+                         '{thread_name: $thread_name, content: $content}')"

data/openarm_description/.github/workflows/test.yaml

@@ -0,0 +1,43 @@
+# Copyright 2025 Enactic, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+name: Test
+on:
+  push:
+    branches:
+      - '**'
+      - '!dependabot/**'
+    tags:
+      - '**'
+  pull_request:
+concurrency:
+  group: ${{ github.head_ref || github.sha }}-${{ github.workflow }}
+  cancel-in-progress: true
+jobs:
+  lint:
+    name: Lint
+    runs-on: ubuntu-latest
+    timeout-minutes: 5
+    steps:
+      - uses: actions/checkout@v6
+      - name: Install pre-commit
+        run: |
+          python -m pip install pre-commit
+      - uses: actions/cache@v5
+        with:
+          path: ~/.cache/pre-commit
+          key: pre-commit-${{ hashFiles('.pre-commit-config.yaml') }}
+      - name: Run pre-commit
+        run: |
+          pre-commit run --show-diff-on-failure --color=always --all-files

data/openarm_description/.gitignore

@@ -0,0 +1,15 @@
+# Copyright 2025 Enactic, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+*.urdf

data/openarm_description/.pre-commit-config.yaml

@@ -0,0 +1,27 @@
+# Copyright 2025 Enactic, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+repos:
+  - repo: https://github.com/cheshirekow/cmake-format-precommit
+    rev: v0.6.13
+    hooks:
+      - id: cmake-format
+  - repo: https://github.com/hhatto/autopep8
+    rev: v2.3.2
+    hooks:
+      - id: autopep8
+        alias: python
+        args:
+          - "--ignore-local-config"
+          - "--in-place"

data/openarm_description/CMakeLists.txt

@@ -0,0 +1,35 @@
+# Copyright 2025 Enactic, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+cmake_minimum_required(VERSION 3.8)
+project(openarm_description)
+
+find_package(ament_cmake REQUIRED)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+install(DIRECTORY launch meshes rviz urdf config
+        DESTINATION share/${PROJECT_NAME})
+
+ament_package()

data/openarm_description/CODE_OF_CONDUCT.md

@@ -0,0 +1,133 @@
+
+# Contributor Covenant Code of Conduct
+
+## Our Pledge
+
+We as members, contributors, and leaders pledge to make participation in our
+community a harassment-free experience for everyone, regardless of age, body
+size, visible or invisible disability, ethnicity, sex characteristics, gender
+identity and expression, level of experience, education, socio-economic status,
+nationality, personal appearance, race, caste, color, religion, or sexual
+identity and orientation.
+
+We pledge to act and interact in ways that contribute to an open, welcoming,
+diverse, inclusive, and healthy community.
+
+## Our Standards
+
+Examples of behavior that contributes to a positive environment for our
+community include:
+
+* Demonstrating empathy and kindness toward other people
+* Being respectful of differing opinions, viewpoints, and experiences
+* Giving and gracefully accepting constructive feedback
+* Accepting responsibility and apologizing to those affected by our mistakes,
+  and learning from the experience
+* Focusing on what is best not just for us as individuals, but for the overall
+  community
+
+Examples of unacceptable behavior include:
+
+* The use of sexualized language or imagery, and sexual attention or advances of
+  any kind
+* Trolling, insulting or derogatory comments, and personal or political attacks
+* Public or private harassment
+* Publishing others' private information, such as a physical or email address,
+  without their explicit permission
+* Other conduct which could reasonably be considered inappropriate in a
+  professional setting
+
+## Enforcement Responsibilities
+
+Community leaders are responsible for clarifying and enforcing our standards of
+acceptable behavior and will take appropriate and fair corrective action in
+response to any behavior that they deem inappropriate, threatening, offensive,
+or harmful.
+
+Community leaders have the right and responsibility to remove, edit, or reject
+comments, commits, code, wiki edits, issues, and other contributions that are
+not aligned to this Code of Conduct, and will communicate reasons for moderation
+decisions when appropriate.
+
+## Scope
+
+This Code of Conduct applies within all community spaces, and also applies when
+an individual is officially representing the community in public spaces.
+Examples of representing our community include using an official email address,
+posting via an official social media account, or acting as an appointed
+representative at an online or offline event.
+
+## Enforcement
+
+Instances of abusive, harassing, or otherwise unacceptable behavior may be
+reported to the community leaders responsible for enforcement at
+hi_public@reazon.jp.
+All complaints will be reviewed and investigated promptly and fairly.
+
+All community leaders are obligated to respect the privacy and security of the
+reporter of any incident.
+
+## Enforcement Guidelines
+
+Community leaders will follow these Community Impact Guidelines in determining
+the consequences for any action they deem in violation of this Code of Conduct:
+
+### 1. Correction
+
+**Community Impact**: Use of inappropriate language or other behavior deemed
+unprofessional or unwelcome in the community.
+
+**Consequence**: A private, written warning from community leaders, providing
+clarity around the nature of the violation and an explanation of why the
+behavior was inappropriate. A public apology may be requested.
+
+### 2. Warning
+
+**Community Impact**: A violation through a single incident or series of
+actions.
+
+**Consequence**: A warning with consequences for continued behavior. No
+interaction with the people involved, including unsolicited interaction with
+those enforcing the Code of Conduct, for a specified period of time. This
+includes avoiding interactions in community spaces as well as external channels
+like social media. Violating these terms may lead to a temporary or permanent
+ban.
+
+### 3. Temporary Ban
+
+**Community Impact**: A serious violation of community standards, including
+sustained inappropriate behavior.
+
+**Consequence**: A temporary ban from any sort of interaction or public
+communication with the community for a specified period of time. No public or
+private interaction with the people involved, including unsolicited interaction
+with those enforcing the Code of Conduct, is allowed during this period.
+Violating these terms may lead to a permanent ban.
+
+### 4. Permanent Ban
+
+**Community Impact**: Demonstrating a pattern of violation of community
+standards, including sustained inappropriate behavior, harassment of an
+individual, or aggression toward or disparagement of classes of individuals.
+
+**Consequence**: A permanent ban from any sort of public interaction within the
+community.
+
+## Attribution
+
+This Code of Conduct is adapted from the [Contributor Covenant][homepage],
+version 2.1, available at
+[https://www.contributor-covenant.org/version/2/1/code_of_conduct.html][v2.1].
+
+Community Impact Guidelines were inspired by
+[Mozilla's code of conduct enforcement ladder][Mozilla CoC].
+
+For answers to common questions about this code of conduct, see the FAQ at
+[https://www.contributor-covenant.org/faq][FAQ]. Translations are available at
+[https://www.contributor-covenant.org/translations][translations].
+
+[homepage]: https://www.contributor-covenant.org
+[v2.1]: https://www.contributor-covenant.org/version/2/1/code_of_conduct.html
+[Mozilla CoC]: https://github.com/mozilla/diversity
+[FAQ]: https://www.contributor-covenant.org/faq
+[translations]: https://www.contributor-covenant.org/translations

data/openarm_description/CONTRIBUTING.md

@@ -0,0 +1,19 @@
+# How to contribute
+
+## Did you find a bug?
+
+Please report it to [GitHub Issues](https://github.com/enactic/openarm_description/issues/new?template=1-bug-report.yml)!
+
+## Did you have a feature request?
+
+Please share it to [GitHub Issues](https://github.com/enactic/openarm_description/issues/new?template=2-feature-request.yml)!
+
+## Did you write a patch?
+
+Please open a pull request with it!
+
+Please make sure to review [our license](https://github.com/enactic/openarm_description/blob/main/LICENSE.txt) before you open a pull request.
+
+## Others?
+
+Please share it on [Discord](https://discord.gg/FsZaZ4z3We) or [GitHub Discussions](https://github.com/enactic/openarm_description/discussions)!

data/openarm_description/LICENSE.txt

@@ -0,0 +1,201 @@
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+   1. Definitions.
+
+      "License" shall mean the terms and conditions for use, reproduction,
+      and distribution as defined by Sections 1 through 9 of this document.
+
+      "Licensor" shall mean the copyright owner or entity authorized by
+      the copyright owner that is granting the License.
+
+      "Legal Entity" shall mean the union of the acting entity and all
+      other entities that control, are controlled by, or are under common
+      control with that entity. For the purposes of this definition,
+      "control" means (i) the power, direct or indirect, to cause the
+      direction or management of such entity, whether by contract or
+      otherwise, or (ii) ownership of fifty percent (50%) or more of the
+      outstanding shares, or (iii) beneficial ownership of such entity.
+
+      "You" (or "Your") shall mean an individual or Legal Entity
+      exercising permissions granted by this License.
+
+      "Source" form shall mean the preferred form for making modifications,
+      including but not limited to software source code, documentation
+      source, and configuration files.
+
+      "Object" form shall mean any form resulting from mechanical
+      transformation or translation of a Source form, including but
+      not limited to compiled object code, generated documentation,
+      and conversions to other media types.
+
+      "Work" shall mean the work of authorship, whether in Source or
+      Object form, made available under the License, as indicated by a
+      copyright notice that is included in or attached to the work
+      (an example is provided in the Appendix below).
+
+      "Derivative Works" shall mean any work, whether in Source or Object
+      form, that is based on (or derived from) the Work and for which the
+      editorial revisions, annotations, elaborations, or other modifications
+      represent, as a whole, an original work of authorship. For the purposes
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data/openarm_description/README.md

@@ -0,0 +1,20 @@
+# Robot Description files for OpenArm
+
+This package contains description files to generate OpenArm URDFs (Universal Robot Description Files). See [documentation](https://docs.openarm.dev/software/description) for details.
+
+## Related links
+
+- 📚 Read the [documentation](https://docs.openarm.dev/software/description)
+- 💬 Join the community on [Discord](https://discord.gg/FsZaZ4z3We)
+- 📬 Contact us through <openarm@enactic.ai>
+
+## License
+
+[Apache License 2.0](LICENSE.txt)
+
+Copyright 2025 Enactic, Inc.
+
+## Code of Conduct
+
+All participation in the OpenArm project is governed by our
+[Code of Conduct](CODE_OF_CONDUCT.md).

data/openarm_description/config/arm/v10/control_gains.yaml

@@ -0,0 +1,41 @@
+# Copyright 2026 Enactic, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+joint1:
+  kp: 70.0
+  kd: 2.75
+
+joint2:
+  kp: 70.0
+  kd: 2.5
+
+joint3:
+  kp: 70.0
+  kd: 2.0
+
+joint4:
+  kp: 60.0
+  kd: 2.0
+
+joint5:
+  kp: 10.0
+  kd: 0.7
+
+joint6:
+  kp: 10.0
+  kd: 0.6
+
+joint7:
+  kp: 10.0
+  kd: 0.5

data/openarm_description/config/arm/v10/inertials.yaml

@@ -0,0 +1,135 @@
+link0:
+  origin:
+    x: -0.0009483362816297526
+    y: 0.0001580207020448382
+    z: 0.03076860287587199
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+  mass: 1.1432284943239561
+  inertia:
+    xx: 0.001128
+    xy: -4.0e-06
+    xz: -3.3e-05
+    yy: 0.000962
+    yz: -7.0e-06
+    zz: 0.00147
+
+link1:
+  origin:
+    x: 0.0011467657911800769
+    y: 3.319987657026362e-05
+    z: 0.05395284380736254
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+  mass: 1.1416684646202298
+  inertia:
+    xx: 0.001567
+    xy: -1.0e-06
+    xz: -2.9e-05
+    yy: 0.001273
+    yz: 1e-06
+    zz: 0.001016
+
+link2:
+  origin:
+    x: 0.00839629182351943
+    y: -2.0145102027597523e-08
+    z: 0.03256649300522363
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+  mass: 0.2775092746011571
+  inertia:
+    xx: 0.000359
+    xy: 1e-06
+    xz: -0.000109
+    yy: 0.000376
+    yz: 1e-06
+    zz: 0.000232
+
+link3:
+  origin:
+    x: -0.002104752099628911
+    y: 0.0005549085042607548
+    z: 0.09047470545721961
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+  mass: 1.073863338202347
+  inertia:
+    xx: 0.004372
+    xy: 1e-06
+    xz: 1.1e-05
+    yy: 0.004319
+    yz: -3.6e-05
+    zz: 0.000661
+
+link4:
+  origin:
+    x: -0.0029006831074562967
+    y: -0.03030575826634669
+    z: 0.06339637422196209
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+  mass: 0.6348534566833373
+  inertia:
+    xx: 0.000623
+    xy: -1.0e-06
+    xz: -1.9e-05
+    yy: 0.000511
+    yz: 3.8e-05
+    zz: 0.000334
+
+link5:
+  origin:
+    x: -0.003049665024221911
+    y: 0.0008866902457326625
+    z: 0.043079803024980934
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+  mass: 0.6156588026168502
+  inertia:
+    xx: 0.000423
+    xy: -8.0e-06
+    xz: 6.0e-06
+    yy: 0.000445
+    yz: -6.0e-06
+    zz: 0.000324
+
+link6:
+  origin:
+    x: -0.037136587005447405
+    y: 0.00033230528343419053
+    z: -9.498374522309838e-05
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+  mass: 0.475202773187987
+  inertia:
+    xx: 0.000143
+    xy: 1e-06
+    xz: 1e-06
+    yy: 0.000157
+    yz: 1e-06
+    zz: 0.000159
+
+link7:
+  origin:
+    x: 6.875510271106056e-05
+    y: 0.01266175250761268
+    z: 0.06951945409987448
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+  mass: 0.4659771327380578
+  inertia:
+    xx: 0.000639
+    xy: 1e-06
+    xz: 1e-06
+    yy: 0.000497
+    yz: 8.9e-05
+    zz: 0.000342

data/openarm_description/config/arm/v10/joint_limits.yaml

@@ -0,0 +1,62 @@
+joint1:
+  limit:
+    lower: -1.396263
+    upper: 3.490659
+    velocity: 16.754666
+    effort: 40
+
+joint2:
+  limit:
+    lower: -1.745329
+    upper: 1.745329
+    velocity: 16.754666
+    effort: 40
+
+joint3:
+  limit:
+    lower: -1.570796
+    upper: 1.570796
+    velocity: 5.445426
+    effort: 27
+
+joint4:
+  limit:
+    lower: 0.0
+    upper: 2.443461
+    velocity: 5.445426
+    effort: 27
+
+joint5:
+  limit:
+    lower: -1.570796
+    upper: 1.570796
+    velocity: 20.943946
+    effort: 7
+
+joint6:
+  limit:
+    lower: -0.785398
+    upper: 0.785398
+    velocity: 20.943946
+    effort: 7
+
+joint7:
+  limit:
+    lower: -1.570796
+    upper: 1.570796
+    velocity: 20.943946
+    effort: 7
+
+# joint_gripper1:
+#   limit:
+#     lower: 0.0
+#     upper: 0.043
+#     velocity: 100
+#     effort: 100
+
+# joint_gripper2:
+#   limit:
+#     lower: 0.0
+#     upper: 0.043
+#     velocity: 100
+#     effort: 100

data/openarm_description/config/arm/v10/kinematics.yaml

@@ -0,0 +1,89 @@
+joint1:
+  kinematic:
+    x: 0.0
+    y: 0.0
+    z: 0.0625
+    roll: 0
+    pitch: 0
+    yaw: 0
+
+joint2:
+  kinematic:
+    x: -0.0301
+    y: 0.0
+    z: 0.06
+    roll: 0
+    pitch: 0
+    yaw: 0
+
+joint3:
+  kinematic:
+    x: 0.0301
+    y: 0.0
+    z: 0.06625
+    roll: 0
+    pitch: 0
+    yaw: 0
+
+joint4:
+  kinematic:
+    x: -0.0
+    y: 0.0315
+    z: 0.15375
+    roll: 0
+    pitch: 0
+    yaw: 0
+
+joint5:
+  kinematic:
+    x: 0.0
+    y: -0.0315
+    z: 0.0955
+    roll: 0
+    pitch: 0
+    yaw: 0
+
+joint6:
+  kinematic:
+    x: 0.0375
+    y: 0.0
+    z: 0.1205
+    roll: 0
+    pitch: 0
+    yaw: 0
+
+# joint7:
+#   kinematic:
+#     x: -0.0375
+#     y: 0.0205
+#     z: 0.0
+#     roll: 0
+#     pitch: 0
+#     yaw: 0
+
+joint7:
+  kinematic:
+    x: -0.0375
+    y: 0.0
+    z: 0.0
+    roll: 0
+    pitch: 0
+    yaw: 0
+
+# joint8:
+#   kinematic:
+#     x: 1e-06
+#     y: -0.098
+#     z: 0.114501
+#     roll: 0
+#     pitch: 0
+#     yaw: 0
+
+joint8:
+  kinematic:
+    x: 1e-06
+    y: 0.0205
+    z: 0.0
+    roll: 0
+    pitch: 0
+    yaw: 0

data/openarm_description/config/arm/v10/kinematics_link.yaml

@@ -0,0 +1,80 @@
+link0:
+  kinematic:
+    x: 0.0
+    y: 0.0
+    z: 0.0
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+
+link1:
+  kinematic:
+    x: -0.0
+    y: 0.0
+    z: -0.0625
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+
+link2:
+  kinematic:
+    x: 0.0301
+    y: 0.0
+    z: -0.1225
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+
+link3:
+  kinematic:
+    x: -0.0
+    y: -0.0
+    z: -0.18875
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+
+link4:
+  kinematic:
+    x: 0.0
+    y: -0.0315
+    z: -0.3425
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+
+link5:
+  kinematic:
+    x: -0.0
+    y: -0.0
+    z: -0.438
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+
+link6:
+  kinematic:
+    x: -0.0375
+    y: -0.0
+    z: -0.5585
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+    
+# link7:
+#   kinematic:
+#     x: 0.0
+#     y: -0.0205
+#     z: -0.5585
+#     roll: 0.0
+#     pitch: 0.0
+#     yaw: 0.0
+
+link7:
+  kinematic:
+    x: 0.0
+    y: -0.0
+    z: -0.5585
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0

data/openarm_description/config/arm/v10/kinematics_offset.yaml

@@ -0,0 +1,71 @@
+joint1:
+  kinematic_offset:
+    x: 0.0
+    y: 0.0
+    z: 0.0
+    roll: 0
+    pitch: 0
+    yaw: 0
+
+joint2:
+  kinematic_offset:
+    x: 0.0
+    y: 0.0
+    z: 0.0
+    roll: 1.57079632679
+    pitch: 0
+    yaw: 0
+
+joint3:
+  kinematic_offset:
+    x: 0.0
+    y: 0.0
+    z: 0.0
+    roll: 0
+    pitch: 0
+    yaw: 0
+
+joint4:
+  kinematic_offset:
+    x: -0.0
+    y: 0.0
+    z: 0.0
+    roll: 0
+    pitch: 0
+    yaw: 0
+
+joint5:
+  kinematic_offset:
+    x: 0.0
+    y: -0.0
+    z: 0.0
+    roll: 0
+    pitch: 0
+    yaw: 0
+
+joint6:
+  kinematic_offset:
+    x: 0.0
+    y: 0.0
+    z: 0.0
+    roll: 0
+    pitch: 0
+    yaw: 0
+
+joint7:
+  kinematic_offset:
+    x: -0.0
+    y: 0.0
+    z: 0.0
+    roll: 0
+    pitch: 0
+    yaw: 0
+
+joint8:
+  kinematic_offset:
+    x: 0.0
+    y: -0.0
+    z: 0.0
+    roll: 0
+    pitch: 0
+    yaw: 0

data/openarm_description/config/body/v10/inertials.yaml

@@ -0,0 +1,14 @@
+body_link0:
+  origin:
+    xyz: 0.0 0.0 0.0
+    rpy: 0.0 0.0 0.0
+  mass: 13.89
+  inertia:
+    xx: 1.653
+    xy: 0.0
+    xz: 0.0
+    yy: 1.653
+    yz: 0.0
+    zz: 0.051
+
+    

data/openarm_description/config/body/v10/kinematics.yaml

@@ -0,0 +1,8 @@
+body_link0:
+  kinematic:
+    x: 0.0
+    y: 0.0
+    z: 0.0
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0

data/openarm_description/config/body/v10/kinematics_link.yaml

@@ -0,0 +1,8 @@
+body_link0:
+  kinematic:
+    x: 0.0
+    y: 0.0
+    z: 0.0
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0

data/openarm_description/config/hand/openarm_hand/inertials.yaml

@@ -0,0 +1,70 @@
+hand:
+  origin:
+    x: 0.0
+    y: 0.002
+    z: 0.03
+    roll: 0
+    pitch: 0
+    yaw: 0
+  mass: 0.35
+  inertia:
+    xx: 0.0002473
+    yy: 1.763e-05
+    zz: 0.0002521
+    xy: 1e-06
+    xz: 1e-06
+    yz: 1e-06
+
+left_finger:
+  origin:
+    x: 0.0064528
+    y: 0.017020
+    z: 0.0219685
+    roll: 0
+    pitch: 0
+    yaw: 0
+  mass: 0.03602545343277134
+  inertia:
+    xx: 2.3749999999999997e-06
+    yy: 2.3749999999999997e-06
+    zz: 7.5e-07
+    xy: 1e-06
+    xz: 1e-06
+    yz: 1e-06
+
+right_finger:
+  origin:
+    x: 0.0064528
+    y: -0.017020
+    z: 0.0219685
+    roll: 0
+    pitch: 0
+    yaw: 0
+  mass: 0.03602545343277134
+  inertia:
+    xx: 2.3749999999999997e-06
+    yy: 2.3749999999999997e-06
+    zz: 7.5e-07
+    xy: 1e-06
+    xz: 1e-06
+    yz: 1e-06
+
+# left_finger: &finger
+#   origin:
+#     x: 00064528
+#     y: 0.017020
+#     z: 0.0219685
+#     roll: 0
+#     pitch: 0
+#     yaw: 0
+#   mass: 0.03602545343277134
+#   inertia:
+#     xx: 2.3749999999999997e-06
+#     yy: 2.3749999999999997e-06
+#     zz: 7.5e-07
+#     xy: 0
+#     xz: 0
+#     yz: 0
+# right_finger: *finger
+
+

data/openarm_description/config/hand/openarm_hand/kinematics_link.yaml

@@ -0,0 +1,62 @@
+# hand:
+#   kinematic:
+#     x: 0.0
+#     y: -0.0205
+#     z: -0.5585
+#     roll: 0.0
+#     pitch: 0.0
+#     yaw: 0.0
+
+hand:
+  kinematic:
+    x: 0.0
+    y: 0.00
+    z: -0.6585
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+
+# left_finger:
+#   kinematic:
+#     x: 0.0
+#     y: 0.0775
+#     z: -0.673001
+#     roll: 0.0
+#     pitch: 0.0
+#     yaw: 0.0
+
+# left_finger:
+#   kinematic:
+#     x: 0.0
+#     y: 0.053
+#     z: -0.673001
+#     roll: 0.0
+#     pitch: 0.0
+#     yaw: 0.0
+
+# right_finger:
+#   kinematic:
+#     x: 0.0
+#     y: 0.143
+#     z: -0.673001
+#     roll: 0.0
+#     pitch: 0.0
+#     yaw: 0.0
+
+left_finger:
+  kinematic:
+    x: 0.0
+    y: -0.05
+    z: -0.673001
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+
+right_finger:
+  kinematic:
+    x: 0.0
+    y: 0.05
+    z: -0.673001
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0

data/openarm_description/dev/README.md

@@ -0,0 +1,9 @@
+# Development
+
+## How to release
+
+```bash
+git clone git@github.com:enactic/openarm_description.git
+cd openarm_description
+dev/release.sh ${VERSION} # e.g. dev/release.sh 1.0.0
+```

data/openarm_description/dev/release.sh

@@ -0,0 +1,50 @@
+#!/bin/bash
+#
+# Copyright 2025 Enactic, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+set -eu
+
+if [ $# -ne 1 ]; then
+    echo "Usage: $0 version"
+    echo " e.g.: $0 1.0.0"
+    exit 0
+fi
+
+version="$1"
+
+base_dir="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+
+cd "${base_dir}"
+
+if [ "${RELEASE_CHECK_ORIGIN:-yes}" = "yes" ]; then
+    git_origin_url="$(git remote get-url origin)"
+    if [ "${git_origin_url}" != "git@github.com:enactic/openarm_description.git" ]; then
+        echo "This script must be ran with working copy of enactic/openarm_description."
+        echo "The origin's URL: ${git_origin_url}"
+        exit 1
+    fi
+fi
+
+if [ "${RELEASE_PULL:-yes}" = "yes" ]; then
+    echo "Ensure using the latest commit"
+    git checkout main
+    git pull --ff-only
+fi
+
+if [ "${RELEASE_TAG:-yes}" = "yes" ]; then
+    echo "Tag"
+    git tag -a -m "OpenArm Description ${version}" "${version}"
+    git push origin "${version}"
+fi

data/openarm_description/launch/display_openarm.launch.py

@@ -0,0 +1,120 @@
+# Copyright 2025 Enactic, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+import xacro
+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription, LaunchContext
+from launch.actions import DeclareLaunchArgument, OpaqueFunction
+from launch.substitutions import LaunchConfiguration
+
+from launch_ros.actions import Node
+
+
+def robot_state_publisher_spawner(context: LaunchContext, arm_type, ee_type, bimanual):
+    arm_type_str = context.perform_substitution(arm_type)
+    ee_type_str = context.perform_substitution(ee_type)
+    bimanual_str = context.perform_substitution(bimanual)
+
+    xacro_path = os.path.join(
+        get_package_share_directory("openarm_description"),
+        "urdf", "robot", f"{arm_type_str}.urdf.xacro"
+    )
+
+    robot_description = xacro.process_file(
+        xacro_path,
+        mappings={
+            "arm_type": arm_type_str,
+            "ee_type": ee_type_str,
+            "bimanual": bimanual_str,
+        }
+    ).toprettyxml(indent="  ")
+
+    return [
+        Node(
+            package="robot_state_publisher",
+            executable="robot_state_publisher",
+            name="robot_state_publisher",
+            output="screen",
+            parameters=[{"robot_description": robot_description}],
+        )
+    ]
+
+
+def rviz_spawner(context: LaunchContext, bimanual):
+    bimanual_str = context.perform_substitution(bimanual)
+
+    rviz_config_file = "bimanual.rviz" if bimanual_str.lower() == "true" else "arm_only.rviz"
+    rviz_config_path = os.path.join(
+        get_package_share_directory("openarm_description"),
+        "rviz", rviz_config_file
+    )
+
+    return [
+        Node(
+            package="rviz2",
+            executable="rviz2",
+            name="rviz2",
+            arguments=["--display-config", rviz_config_path],
+            output="screen"
+        ),
+    ]
+
+
+def generate_launch_description():
+    arm_type_arg = DeclareLaunchArgument(
+        "arm_type",
+        description="Type of arm to visualize (e.g., v10)"
+    )
+
+    ee_type_arg = DeclareLaunchArgument(
+        "ee_type",
+        default_value="openarm_hand",
+        description="Type of end-effector to attach (e.g., openarm_hand or none)"
+    )
+
+    bimanual_arg = DeclareLaunchArgument(
+        "bimanual",
+        default_value="false",
+        description="Whether to use bimanual configuration"
+    )
+
+    arm_type = LaunchConfiguration("arm_type")
+    ee_type = LaunchConfiguration("ee_type")
+    bimanual = LaunchConfiguration("bimanual")
+
+    robot_state_publisher_loader = OpaqueFunction(
+        function=robot_state_publisher_spawner,
+        args=[arm_type, ee_type, bimanual]
+    )
+
+    rviz_loader = OpaqueFunction(
+        function=rviz_spawner,
+        args=[bimanual]
+    )
+
+    return LaunchDescription([
+        arm_type_arg,
+        ee_type_arg,
+        bimanual_arg,
+        robot_state_publisher_loader,
+        Node(
+            package="joint_state_publisher_gui",
+            executable="joint_state_publisher_gui",
+            name="joint_state_publisher_gui"
+        ),
+        rviz_loader,
+    ])

data/openarm_description/meshes/arm/v10/collision/link3_symp.stl

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+size 156984

data/openarm_description/meshes/arm/v10/collision/link4_symp.stl

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data/openarm_description/meshes/arm/v10/collision/link5_symp.stl

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+size 751484

data/openarm_description/meshes/arm/v10/visual/link0.stl

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data/openarm_description/meshes/arm/v10/visual/link1.stl

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data/openarm_description/meshes/arm/v10/visual/link2.stl

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data/openarm_description/meshes/arm/v10/visual/link3.stl

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